Derivation of cardinalized probability hypothesis density filter via the physical-space approach

Abstract

In order to make the cardinalized probability hypothesis density filter well understood, its function is deduced with the Bayes theorem and the total probability theorem based on the physical-space model made by Ozgur Erdin. The derivation is detailed and clear, and the results of the derivation are identical to those in the literature. This paper will provide the theory basis for the application and the performance improvement of the cardinalized probability hypothesis density filter in target tracking.